@article{dezman2018,
author = {De\v{z}man, Miha and Gams, Andrej},
title = {Rotatable cam-based variable-ratio lever compliant actuator for wearable devices},
journal = {Mechanism and Machine Theory},
year = {2018},
volume = {130},
pages = {508-522},
doi = {10.1016/j.mechmachtheory.2018.09.006}
}